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Design of a Cobot with Three Omni-Wheels
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- Bi, Z. M. (author)
- Queen's University Belfast, UK
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- Wang, Lihui (author)
- Högskolan i Skövde,Institutionen för teknik och samhälle,Forskningscentrum för Virtuella system,University of Skövde
- (creator_code:org_t)
- Gemini International Ltd, 2009
- 2009
- English.
- In: Proceedings of the 19th International Conference on Flexible Automation and Intelligent Manufacturing. - : Gemini International Ltd. - 9780956230331 - 9781615676279 ; , s. 360-367
- Conference paper (peer-reviewed)
Abstract
Subject headings
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- Collaborative robots (Cobots) have been proposed to guide and assist human operators to move heavy objects in a given trajectory. Most of the existing cobots us steering wheels; typical drawbacks of using steering wheels include (i) the difficulty to follow a trajectory with a curvature larger than that of the base platform, (ii) the difficulty to mount encoders on steering wheels due to self-spinning of the wheels, and (iii) the difficulty to quarantine dynamic control performance since it is purely kinematic control. In this paper, a new cobot with the omni-wheels has been proposed, and its design model has been developed, and a simulation has been conducted to validate this control performance.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering (hsv//eng)
Keyword
- Engineering mechanics
- Teknisk mekanik
- Technology
- Teknik
Publication and Content Type
- ref (subject category)
- kon (subject category)
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